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   <div id="projectname">MRSL DecompUtil Library
   &#160;<span id="projectnumber">0.1</span>
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   <div id="projectbrief">An implementaion of convex decomposition over point cloud</div>
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<a href="#pub-methods">Public Member Functions</a> &#124;
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<a href="#pro-attribs">Protected Attributes</a> &#124;
<a href="classDecompBase-members.html">List of all members</a>  </div>
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<div class="title">DecompBase&lt; Dim &gt; Class Template Reference<span class="mlabels"><span class="mlabel">abstract</span></span></div>  </div>
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<p>Line Segment Class.  
 <a href="classDecompBase.html#details">More...</a></p>

<p><code>#include &lt;<a class="el" href="decomp__base_8h_source.html">decomp_base.h</a>&gt;</code></p>
<div class="dynheader">
Inheritance diagram for DecompBase&lt; Dim &gt;:</div>
<div class="dyncontent">
 <div class="center">
  <img src="classDecompBase.png" usemap="#DecompBase_3C_20Dim_20_3E_map" alt=""/>
  <map id="DecompBase_3C_20Dim_20_3E_map" name="DecompBase&lt; Dim &gt;_map">
<area href="classLineSegment.html" title="Line Segment Class. " alt="LineSegment&lt; Dim &gt;" shape="rect" coords="0,56,132,80"/>
<area href="classSeedDecomp.html" title="Seed Decomp Class. " alt="SeedDecomp&lt; Dim &gt;" shape="rect" coords="142,56,274,80"/>
</map>
 </div></div>
<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr class="memitem:a4fdc315275a421b40a84aeffacab4a5a"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a4fdc315275a421b40a84aeffacab4a5a"></a>
&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classDecompBase.html#a4fdc315275a421b40a84aeffacab4a5a">DecompBase</a> ()</td></tr>
<tr class="memdesc:a4fdc315275a421b40a84aeffacab4a5a"><td class="mdescLeft">&#160;</td><td class="mdescRight">Null constructor. <br /></td></tr>
<tr class="separator:a4fdc315275a421b40a84aeffacab4a5a"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a43a9d473dfbcdcc3a45d21917186663b"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classDecompBase.html#a43a9d473dfbcdcc3a45d21917186663b">set_local_bbox</a> (const <a class="el" href="data__type_8h.html#a3a0c45655a5e009e56634ccde0c5c575">Vecf</a>&lt; Dim &gt; &amp;bbox)</td></tr>
<tr class="memdesc:a43a9d473dfbcdcc3a45d21917186663b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Adding local bounding box around line seg.  <a href="#a43a9d473dfbcdcc3a45d21917186663b">More...</a><br /></td></tr>
<tr class="separator:a43a9d473dfbcdcc3a45d21917186663b"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a53cb01307a94dc941f40f1234b676a3b"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a53cb01307a94dc941f40f1234b676a3b"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classDecompBase.html#a53cb01307a94dc941f40f1234b676a3b">set_obs</a> (const <a class="el" href="data__type_8h.html#a74599b2a677a5186ef71a2a690c6171d">vec_Vecf</a>&lt; Dim &gt; &amp;obs)</td></tr>
<tr class="memdesc:a53cb01307a94dc941f40f1234b676a3b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Import obstacle points. <br /></td></tr>
<tr class="separator:a53cb01307a94dc941f40f1234b676a3b"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a617f05e12b3f8dbc3b67012f5edbc577"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a617f05e12b3f8dbc3b67012f5edbc577"></a>
<a class="el" href="data__type_8h.html#a74599b2a677a5186ef71a2a690c6171d">vec_Vecf</a>&lt; Dim &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classDecompBase.html#a617f05e12b3f8dbc3b67012f5edbc577">get_obs</a> () const </td></tr>
<tr class="memdesc:a617f05e12b3f8dbc3b67012f5edbc577"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get obstacel points. <br /></td></tr>
<tr class="separator:a617f05e12b3f8dbc3b67012f5edbc577"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:afd3d14a14667f86456f60384df9d81fb"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="afd3d14a14667f86456f60384df9d81fb"></a>
<a class="el" href="structEllipsoid.html">Ellipsoid</a>&lt; Dim &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classDecompBase.html#afd3d14a14667f86456f60384df9d81fb">get_ellipsoid</a> () const </td></tr>
<tr class="memdesc:afd3d14a14667f86456f60384df9d81fb"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get ellipsoid. <br /></td></tr>
<tr class="separator:afd3d14a14667f86456f60384df9d81fb"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a2828493d375ef02f3711942f66f399d4"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a2828493d375ef02f3711942f66f399d4"></a>
<a class="el" href="structPolyhedron.html">Polyhedron</a>&lt; Dim &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classDecompBase.html#a2828493d375ef02f3711942f66f399d4">get_polyhedron</a> () const </td></tr>
<tr class="memdesc:a2828493d375ef02f3711942f66f399d4"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get polyhedron. <br /></td></tr>
<tr class="separator:a2828493d375ef02f3711942f66f399d4"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a8075ef9c927b23309ca1a3d4144250e5"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classDecompBase.html#a8075ef9c927b23309ca1a3d4144250e5">dilate</a> (<a class="el" href="data__type_8h.html#a7c99d9360fc6cac2762b786e2fb52266">decimal_t</a> radius=0)=0</td></tr>
<tr class="memdesc:a8075ef9c927b23309ca1a3d4144250e5"><td class="mdescLeft">&#160;</td><td class="mdescRight">Inflate the line segment.  <a href="#a8075ef9c927b23309ca1a3d4144250e5">More...</a><br /></td></tr>
<tr class="separator:a8075ef9c927b23309ca1a3d4144250e5"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a683f4c7d5b2cc03ac736f224e9cbca2c"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classDecompBase.html#a683f4c7d5b2cc03ac736f224e9cbca2c">shrink</a> (double shrink_distance)</td></tr>
<tr class="memdesc:a683f4c7d5b2cc03ac736f224e9cbca2c"><td class="mdescLeft">&#160;</td><td class="mdescRight">Shrink the polyhedron.  <a href="#a683f4c7d5b2cc03ac736f224e9cbca2c">More...</a><br /></td></tr>
<tr class="separator:a683f4c7d5b2cc03ac736f224e9cbca2c"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-methods"></a>
Protected Member Functions</h2></td></tr>
<tr class="memitem:a871e2ebb78f3e920ed2d8930c3a9a79c"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a871e2ebb78f3e920ed2d8930c3a9a79c"></a>
virtual void&#160;</td><td class="memItemRight" valign="bottom"><b>add_local_bbox</b> (<a class="el" href="structPolyhedron.html">Polyhedron</a>&lt; Dim &gt; &amp;Vs)=0</td></tr>
<tr class="separator:a871e2ebb78f3e920ed2d8930c3a9a79c"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a7a0b3b057af56cd5e0ae8cf78c3fb376"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a7a0b3b057af56cd5e0ae8cf78c3fb376"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><b>find_polyhedron</b> ()</td></tr>
<tr class="separator:a7a0b3b057af56cd5e0ae8cf78c3fb376"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-attribs"></a>
Protected Attributes</h2></td></tr>
<tr class="memitem:af3afcc5ba0baa24fa1a52a08138fb67b"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="af3afcc5ba0baa24fa1a52a08138fb67b"></a>
<a class="el" href="data__type_8h.html#a74599b2a677a5186ef71a2a690c6171d">vec_Vecf</a>&lt; Dim &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classDecompBase.html#af3afcc5ba0baa24fa1a52a08138fb67b">obs_</a></td></tr>
<tr class="memdesc:af3afcc5ba0baa24fa1a52a08138fb67b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Obstacles, input. <br /></td></tr>
<tr class="separator:af3afcc5ba0baa24fa1a52a08138fb67b"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a58c41c590f6c92d9fa0886d4d735d7a1"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a58c41c590f6c92d9fa0886d4d735d7a1"></a>
<a class="el" href="structEllipsoid.html">Ellipsoid</a>&lt; Dim &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classDecompBase.html#a58c41c590f6c92d9fa0886d4d735d7a1">ellipsoid_</a></td></tr>
<tr class="memdesc:a58c41c590f6c92d9fa0886d4d735d7a1"><td class="mdescLeft">&#160;</td><td class="mdescRight">Output ellipsoid. <br /></td></tr>
<tr class="separator:a58c41c590f6c92d9fa0886d4d735d7a1"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a21a9039cefecfe2166dc5faf8ba86a68"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a21a9039cefecfe2166dc5faf8ba86a68"></a>
<a class="el" href="structPolyhedron.html">Polyhedron</a>&lt; Dim &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classDecompBase.html#a21a9039cefecfe2166dc5faf8ba86a68">polyhedron_</a></td></tr>
<tr class="memdesc:a21a9039cefecfe2166dc5faf8ba86a68"><td class="mdescLeft">&#160;</td><td class="mdescRight">Output polyhedron. <br /></td></tr>
<tr class="separator:a21a9039cefecfe2166dc5faf8ba86a68"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a8af5e7a5c407102df57089253b35c44a"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a8af5e7a5c407102df57089253b35c44a"></a>
<a class="el" href="data__type_8h.html#a3a0c45655a5e009e56634ccde0c5c575">Vecf</a>&lt; Dim &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classDecompBase.html#a8af5e7a5c407102df57089253b35c44a">local_bbox_</a> {<a class="el" href="data__type_8h.html#a3a0c45655a5e009e56634ccde0c5c575">Vecf</a>&lt;Dim&gt;::Zero()}</td></tr>
<tr class="memdesc:a8af5e7a5c407102df57089253b35c44a"><td class="mdescLeft">&#160;</td><td class="mdescRight">Local bounding box along the line segment. <br /></td></tr>
<tr class="separator:a8af5e7a5c407102df57089253b35c44a"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table>
<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><h3>template&lt;int Dim&gt;<br />
class DecompBase&lt; Dim &gt;</h3>

<p>Line Segment Class. </p>
<p>The basic element in <a class="el" href="classEllipsoidDecomp.html" title="EllipsoidDecomp Class. ">EllipsoidDecomp</a> </p>
</div><h2 class="groupheader">Member Function Documentation</h2>
<a class="anchor" id="a8075ef9c927b23309ca1a3d4144250e5"></a>
<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;int Dim&gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">virtual void <a class="el" href="classDecompBase.html">DecompBase</a>&lt; Dim &gt;::dilate </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="data__type_8h.html#a7c99d9360fc6cac2762b786e2fb52266">decimal_t</a>&#160;</td>
          <td class="paramname"><em>radius</em> = <code>0</code></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">pure virtual</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Inflate the line segment. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">radius</td><td>the offset added to the long semi-axis </td></tr>
  </table>
  </dd>
</dl>

<p>Implemented in <a class="el" href="classLineSegment.html#a3479e2467a33468749971e12aa15c46f">LineSegment&lt; Dim &gt;</a>, and <a class="el" href="classSeedDecomp.html#a94db31b5d02e4ca19f32c3a5bacc25a2">SeedDecomp&lt; Dim &gt;</a>.</p>

</div>
</div>
<a class="anchor" id="a43a9d473dfbcdcc3a45d21917186663b"></a>
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<div class="memproto">
<div class="memtemplate">
template&lt;int Dim&gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classDecompBase.html">DecompBase</a>&lt; Dim &gt;::set_local_bbox </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="data__type_8h.html#a3a0c45655a5e009e56634ccde0c5c575">Vecf</a>&lt; Dim &gt; &amp;&#160;</td>
          <td class="paramname"><em>bbox</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Adding local bounding box around line seg. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">Dim</td><td>Distance in corresponding axis</td></tr>
  </table>
  </dd>
</dl>
<p>This virtual bounding box is parallel to the line segment, the x,y,z axes are not w.r.t the world coordinate system, but instead, x-axis is parallel to the line, y-axis is perpendicular to the line and world z-axis, z-axis is perpendiculat to the line and y-axis </p>

</div>
</div>
<a class="anchor" id="a683f4c7d5b2cc03ac736f224e9cbca2c"></a>
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<div class="memproto">
<div class="memtemplate">
template&lt;int Dim&gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">virtual void <a class="el" href="classDecompBase.html">DecompBase</a>&lt; Dim &gt;::shrink </td>
          <td>(</td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>shrink_distance</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">virtual</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Shrink the polyhedron. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">shrink_distance</td><td>Shrink distance </td></tr>
  </table>
  </dd>
</dl>

</div>
</div>
<hr/>The documentation for this class was generated from the following file:<ul>
<li>include/decomp_util/<a class="el" href="decomp__base_8h_source.html">decomp_base.h</a></li>
</ul>
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